I am planning to use a couple of Sabertooth / Kangaroo combos in my B9 project. The robot will be stationary and will be powered by a plugged in 12 volt power supply. I seem to remember something about the synchronous regenerative properties of the Sabertooth requiring a battery for somewhere to channel the feedback voltage to. My question is how is this connected? Do I connect the battery in parallel with the power supply or can I forget the battery and use diodes to stop the back flow. I have searched on line but cant seem to find what I'm looking for. Am I on the wrong track altogether?